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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pub-attribs">Public 属性</a> &#124;
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<div class="title">pcl::gpu::RayCaster结构体 参考</div>  </div>
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<p>Class that performs raycasting for TSDF volume  
 <a href="structpcl_1_1gpu_1_1_ray_caster.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="include_2pcl_2gpu_2kinfu_2raycaster_8h_source.html">raycaster.h</a>&gt;</code></p>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public 类型</h2></td></tr>
<tr class="memitem:a0fdbdb296d42e77eaec3ed07b3c0a705"><td class="memItemLeft" align="right" valign="top"><a id="a0fdbdb296d42e77eaec3ed07b3c0a705"></a>
typedef boost::shared_ptr&lt; <a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html">RayCaster</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Ptr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>MapArr</b></td></tr>
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typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; <a class="el" href="structpcl_1_1gpu_1_1_pixel_r_g_b.html">PixelRGB</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>View</b></td></tr>
<tr class="separator:a52fd85bf7a093f858a83d4353f5d67f5"><td class="memSeparator" colspan="2">&#160;</td></tr>
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typedef <a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D</a>&lt; unsigned short &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Depth</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
<tr class="memitem:ad7b64edce595a883b446cfb2006f7121"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#ad7b64edce595a883b446cfb2006f7121">RayCaster</a> (int rows=480, int <a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a5585298f07e2eca21926256f9771246d">cols</a>=640, float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)</td></tr>
<tr class="memdesc:ad7b64edce595a883b446cfb2006f7121"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor  <a href="structpcl_1_1gpu_1_1_ray_caster.html#ad7b64edce595a883b446cfb2006f7121">更多...</a><br /></td></tr>
<tr class="separator:ad7b64edce595a883b446cfb2006f7121"><td class="memSeparator" colspan="2">&#160;</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#aa3dfba565c7bd2b24d5b5ec26810da02">setIntrinsics</a> (float fx=525.f, float fy=525.f, float cx=-1, float cy=-1)</td></tr>
<tr class="memdesc:aa3dfba565c7bd2b24d5b5ec26810da02"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets camera intrinsics <br /></td></tr>
<tr class="separator:aa3dfba565c7bd2b24d5b5ec26810da02"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5bc58eb25d9e80975a603fe373d3db9d"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a5bc58eb25d9e80975a603fe373d3db9d">run</a> (const <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a> &amp;volume, const Eigen::Affine3f &amp;camera_pose)</td></tr>
<tr class="memdesc:a5bc58eb25d9e80975a603fe373d3db9d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runs raycasting algorithm from given camera pose. It writes results to internal fiels.  <a href="structpcl_1_1gpu_1_1_ray_caster.html#a5bc58eb25d9e80975a603fe373d3db9d">更多...</a><br /></td></tr>
<tr class="separator:a5bc58eb25d9e80975a603fe373d3db9d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abdb5814ba3cee282073b4a15c1aae061"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#abdb5814ba3cee282073b4a15c1aae061">generateSceneView</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;view) const</td></tr>
<tr class="memdesc:abdb5814ba3cee282073b4a15c1aae061"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates scene view using data raycasted by run method. So call it before.  <a href="structpcl_1_1gpu_1_1_ray_caster.html#abdb5814ba3cee282073b4a15c1aae061">更多...</a><br /></td></tr>
<tr class="separator:abdb5814ba3cee282073b4a15c1aae061"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a960e1bbc1ac608ceccaea355d7408098"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a960e1bbc1ac608ceccaea355d7408098">generateSceneView</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;view, const Eigen::Vector3f &amp;light_source_pose) const</td></tr>
<tr class="memdesc:a960e1bbc1ac608ceccaea355d7408098"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates scene view using data raycasted by run method. So call it before.  <a href="structpcl_1_1gpu_1_1_ray_caster.html#a960e1bbc1ac608ceccaea355d7408098">更多...</a><br /></td></tr>
<tr class="separator:a960e1bbc1ac608ceccaea355d7408098"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a42bca75d5df767941a32bf211347850a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a42bca75d5df767941a32bf211347850a">generateDepthImage</a> (<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a> &amp;depth) const</td></tr>
<tr class="memdesc:a42bca75d5df767941a32bf211347850a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generates depth image using data raycasted by run method. So call it before.  <a href="structpcl_1_1gpu_1_1_ray_caster.html#a42bca75d5df767941a32bf211347850a">更多...</a><br /></td></tr>
<tr class="separator:a42bca75d5df767941a32bf211347850a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2fd1629d61d7c461cf36c50b7fbe01d3"><td class="memItemLeft" align="right" valign="top"><a id="a2fd1629d61d7c461cf36c50b7fbe01d3"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a2fd1629d61d7c461cf36c50b7fbe01d3">getVertexMap</a> () const</td></tr>
<tr class="memdesc:a2fd1629d61d7c461cf36c50b7fbe01d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns raycasterd vertex map. <br /></td></tr>
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<tr class="memitem:a77970a7c4c07f35476d078531a995e3a"><td class="memItemLeft" align="right" valign="top"><a id="a77970a7c4c07f35476d078531a995e3a"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a77970a7c4c07f35476d078531a995e3a">getNormalMap</a> () const</td></tr>
<tr class="memdesc:a77970a7c4c07f35476d078531a995e3a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns raycasterd normal map. <br /></td></tr>
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</table><table class="memberdecls">
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Public 属性</h2></td></tr>
<tr class="memitem:a5585298f07e2eca21926256f9771246d"><td class="memItemLeft" align="right" valign="top"><a id="a5585298f07e2eca21926256f9771246d"></a>
const int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a5585298f07e2eca21926256f9771246d">cols</a></td></tr>
<tr class="memdesc:a5585298f07e2eca21926256f9771246d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Image with height <br /></td></tr>
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const int&#160;</td><td class="memItemRight" valign="bottom"><b>rows</b></td></tr>
<tr class="separator:aeacd9f8750cee64e74834c52e042d83d"><td class="memSeparator" colspan="2">&#160;</td></tr>
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Private 属性</h2></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a5ee60c30d761835b30777f35625d4add">fx_</a></td></tr>
<tr class="memdesc:a5ee60c30d761835b30777f35625d4add"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="class_camera.html">Camera</a> intrinsics. <br /></td></tr>
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float&#160;</td><td class="memItemRight" valign="bottom"><b>fy_</b></td></tr>
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<tr class="memitem:af2b5cd32719ffdb769164d20b133033e"><td class="memItemLeft" align="right" valign="top"><a id="af2b5cd32719ffdb769164d20b133033e"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>cx_</b></td></tr>
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<tr class="memitem:aa0203f6c8a45b9b06939a69857b95d35"><td class="memItemLeft" align="right" valign="top"><a id="aa0203f6c8a45b9b06939a69857b95d35"></a>
float&#160;</td><td class="memItemRight" valign="bottom"><b>cy_</b></td></tr>
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<tr class="memitem:a94789762374be336d37b68a968150967"><td class="memItemLeft" align="right" valign="top"><a id="a94789762374be336d37b68a968150967"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a94789762374be336d37b68a968150967">vertex_map_</a></td></tr>
<tr class="memdesc:a94789762374be336d37b68a968150967"><td class="mdescLeft">&#160;</td><td class="mdescRight">vertex map of 3D points <br /></td></tr>
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<tr class="memitem:ae1f7db5732b2c4e2289d958557702217"><td class="memItemLeft" align="right" valign="top"><a id="ae1f7db5732b2c4e2289d958557702217"></a>
<a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">MapArr</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#ae1f7db5732b2c4e2289d958557702217">normal_map_</a></td></tr>
<tr class="memdesc:ae1f7db5732b2c4e2289d958557702217"><td class="mdescLeft">&#160;</td><td class="mdescRight">normal map of 3D points <br /></td></tr>
<tr class="separator:ae1f7db5732b2c4e2289d958557702217"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae673b1fe5e1cbe1e7d72e4ee8d47c9a2"><td class="memItemLeft" align="right" valign="top"><a id="ae673b1fe5e1cbe1e7d72e4ee8d47c9a2"></a>
Eigen::Affine3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#ae673b1fe5e1cbe1e7d72e4ee8d47c9a2">camera_pose_</a></td></tr>
<tr class="memdesc:ae673b1fe5e1cbe1e7d72e4ee8d47c9a2"><td class="mdescLeft">&#160;</td><td class="mdescRight">camera pose from which raycasting was done <br /></td></tr>
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<tr class="memitem:a72f0e1cef49d6b867d781a7e5cae721d"><td class="memItemLeft" align="right" valign="top"><a id="a72f0e1cef49d6b867d781a7e5cae721d"></a>
Eigen::Vector3f&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structpcl_1_1gpu_1_1_ray_caster.html#a72f0e1cef49d6b867d781a7e5cae721d">volume_size_</a></td></tr>
<tr class="memdesc:a72f0e1cef49d6b867d781a7e5cae721d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Last passed volume size <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><p>Class that performs raycasting for TSDF volume </p>
<dl class="section author"><dt>作者</dt><dd>Anatoly Baskeheev, Itseez Ltd, (<a href="#" onclick="location.href='mai'+'lto:'+'myn'+'am'+'e.m'+'ys'+'urn'+'am'+'e@m'+'yc'+'omp'+'an'+'y.c'+'om'; return false;">mynam<span style="display: none;">.nosp@m.</span>e.my<span style="display: none;">.nosp@m.</span>surna<span style="display: none;">.nosp@m.</span>me@m<span style="display: none;">.nosp@m.</span>ycomp<span style="display: none;">.nosp@m.</span>any.<span style="display: none;">.nosp@m.</span>com</a>) </dd></dl>
</div><h2 class="groupheader">构造及析构函数说明</h2>
<a id="ad7b64edce595a883b446cfb2006f7121"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad7b64edce595a883b446cfb2006f7121">&#9670;&nbsp;</a></span>RayCaster()</h2>

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          <td class="memname">pcl::gpu::RayCaster::RayCaster </td>
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          <td class="paramtype">int&#160;</td>
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          <td class="paramkey"></td>
          <td></td>
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        <tr>
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        <tr>
          <td class="paramkey"></td>
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          <td class="paramtype">float&#160;</td>
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        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>cx</em> = <code>-1</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">float&#160;</td>
          <td class="paramname"><em>cy</em> = <code>-1</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Constructor </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">rows</td><td>image rows </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cols</td><td>image cols </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">fx</td><td>focal x </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">fy</td><td>focal y </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cx</td><td>principal point x </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">cy</td><td>principal point y </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<h2 class="groupheader">成员函数说明</h2>
<a id="a42bca75d5df767941a32bf211347850a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a42bca75d5df767941a32bf211347850a">&#9670;&nbsp;</a></span>generateDepthImage()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::RayCaster::generateDepthImage </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a> &amp;&#160;</td>
          <td class="paramname"><em>depth</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates depth image using data raycasted by run method. So call it before. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">depth</td><td>output array for depth image <br  />
 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="abdb5814ba3cee282073b4a15c1aae061"></a>
<h2 class="memtitle"><span class="permalink"><a href="#abdb5814ba3cee282073b4a15c1aae061">&#9670;&nbsp;</a></span>generateSceneView() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::RayCaster::generateSceneView </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;&#160;</td>
          <td class="paramname"><em>view</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates scene view using data raycasted by run method. So call it before. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">view</td><td>output array for <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> image <br  />
 </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a960e1bbc1ac608ceccaea355d7408098"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a960e1bbc1ac608ceccaea355d7408098">&#9670;&nbsp;</a></span>generateSceneView() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::RayCaster::generateSceneView </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1gpu_1_1_device_array2_d.html">View</a> &amp;&#160;</td>
          <td class="paramname"><em>view</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Vector3f &amp;&#160;</td>
          <td class="paramname"><em>light_source_pose</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Generates scene view using data raycasted by run method. So call it before. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[out]</td><td class="paramname">view</td><td>output array for <a class="el" href="structpcl_1_1_r_g_b.html" title="A structure representing RGB color information.">RGB</a> image </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">light_source_pose</td><td>pose of light source </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<a id="a5bc58eb25d9e80975a603fe373d3db9d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5bc58eb25d9e80975a603fe373d3db9d">&#9670;&nbsp;</a></span>run()</h2>

<div class="memitem">
<div class="memproto">
      <table class="memname">
        <tr>
          <td class="memname">void pcl::gpu::RayCaster::run </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1gpu_1_1_tsdf_volume.html">TsdfVolume</a> &amp;&#160;</td>
          <td class="paramname"><em>volume</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">const Eigen::Affine3f &amp;&#160;</td>
          <td class="paramname"><em>camera_pose</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Runs raycasting algorithm from given camera pose. It writes results to internal fiels. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramdir">[in]</td><td class="paramname">volume</td><td>tsdf volume container </td></tr>
    <tr><td class="paramdir">[in]</td><td class="paramname">camera_pose</td><td>camera pose </td></tr>
  </table>
  </dd>
</dl>

</div>
</div>
<hr/>该结构体的文档由以下文件生成:<ul>
<li>gpu/kinfu/include/pcl/gpu/kinfu/<a class="el" href="include_2pcl_2gpu_2kinfu_2raycaster_8h_source.html">raycaster.h</a></li>
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